raimasen1729 / Quaternion-based-UKF

Quaternion-based UKF

Built a quaternion based UKF for object pose tracking given IMU readings to avoid orientation singularity estimate_rot.py tracks the orientation using the IMU data and UKF.

Vicon vs. UKF

Gyro vs. UKF

Reference

E. Kraft, "A quaternion-based unscented Kalman filter for orientation tracking," Sixth International Conference of Information Fusion, 2003. Proceedings of the, Cairns, Queensland, Australia, 2003, pp. 47-54, doi: 10.1109/ICIF.2003.177425.